Fast camera motion brings two main challenges to RGB-D fusion. First, fast motions lead to large rotations which make camera pose optimization highly nonlinear and prune to local optima for gradient descent methods [1]}. Second, fast camera movement causes severe motion blur in RGB images, especially under dark lighting conditions and in the case of indoor-level camera-to-scene distance. This makes it intractable for robust photometric tracking which is crucial to many SLAM [2]} and dense RGB-D reconstruction methods [3]}.
